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Flight/UAVObjects: Add a few files that were missed earlier, and get posix
worlking again git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1869 ebee16cc-31ac-478f-84a7-5cbb03baadba
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peabody124
peabody124
parent
99f6500c9a
commit
d71e9df8c5
@ -156,12 +156,9 @@ SRC += $(OPUAVOBJ)/ahrscalibration.c
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SRC += $(OPUAVOBJ)/ahrssettings.c
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SRC += $(OPUAVOBJ)/gpstime.c
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SRC += $(OPUAVOBJ)/gpssatellites.c
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SRC += $(OPUAVOBJ)/attitudesettings.c
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SRC += $(OPUAVOBJ)/vtolsettings.c
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SRC += $(OPUAVOBJ)/vtolstatus.c
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SRC += $(OPUAVOBJ)/mixersettings.c
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SRC += $(OPUAVOBJ)/mixerstatus.c
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#SRC += $(OPUAVOBJ)/lesstabilizationsettings.c
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SRC += $(OPUAVOBJ)/lesstabilizationsettings.c
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SRC += $(OPUAVOBJ)/positiondesired.c
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SRC += $(OPUAVOBJ)/velocitydesired.c
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SRC += $(OPUAVOBJ)/velocityactual.c
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137
flight/OpenPilot/UAVObjects/inc/lesstabilizationsettings.h
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137
flight/OpenPilot/UAVObjects/inc/lesstabilizationsettings.h
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@ -0,0 +1,137 @@
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/**
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******************************************************************************
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* @addtogroup UAVObjects OpenPilot UAVObjects
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* @{
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* @addtogroup LesStabilizationSettings LesStabilizationSettings
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* @brief PID settings used by the Stabilization module to combine the @ref AttitudeActual and @ref AttitudeDesired to compute @ref ActuatorDesired
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*
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* Autogenerated files and functions for LesStabilizationSettings Object
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* @{
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*
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* @file lesstabilizationsettings.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Implementation of the LesStabilizationSettings object. This file has been
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* automatically generated by the UAVObjectGenerator.
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*
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* @note Object definition file: lesstabilizationsettings.xml.
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* This is an automatically generated file.
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* DO NOT modify manually.
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*
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef LESSTABILIZATIONSETTINGS_H
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#define LESSTABILIZATIONSETTINGS_H
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// Object constants
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#define LESSTABILIZATIONSETTINGS_OBJID 2839831188U
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#define LESSTABILIZATIONSETTINGS_NAME "LesStabilizationSettings"
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#define LESSTABILIZATIONSETTINGS_METANAME "LesStabilizationSettingsMeta"
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#define LESSTABILIZATIONSETTINGS_ISSINGLEINST 1
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#define LESSTABILIZATIONSETTINGS_ISSETTINGS 1
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#define LESSTABILIZATIONSETTINGS_NUMBYTES sizeof(LesStabilizationSettingsData)
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// Object access macros
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/**
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* @function LesStabilizationSettingsGet(dataOut)
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* @brief Populate a LesStabilizationSettingsData object
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* @param[out] dataOut
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*/
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#define LesStabilizationSettingsGet(dataOut) UAVObjGetData(LesStabilizationSettingsHandle(), dataOut)
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#define LesStabilizationSettingsSet(dataIn) UAVObjSetData(LesStabilizationSettingsHandle(), dataIn)
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#define LesStabilizationSettingsInstGet(instId, dataOut) UAVObjGetInstanceData(LesStabilizationSettingsHandle(), instId, dataOut)
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#define LesStabilizationSettingsInstSet(instId, dataIn) UAVObjSetInstanceData(LesStabilizationSettingsHandle(), instId, dataIn)
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#define LesStabilizationSettingsConnectQueue(queue) UAVObjConnectQueue(LesStabilizationSettingsHandle(), queue, EV_MASK_ALL_UPDATES)
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#define LesStabilizationSettingsConnectCallback(cb) UAVObjConnectCallback(LesStabilizationSettingsHandle(), cb, EV_MASK_ALL_UPDATES)
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#define LesStabilizationSettingsCreateInstance() UAVObjCreateInstance(LesStabilizationSettingsHandle())
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#define LesStabilizationSettingsRequestUpdate() UAVObjRequestUpdate(LesStabilizationSettingsHandle())
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#define LesStabilizationSettingsRequestInstUpdate(instId) UAVObjRequestInstanceUpdate(LesStabilizationSettingsHandle(), instId)
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#define LesStabilizationSettingsUpdated() UAVObjUpdated(LesStabilizationSettingsHandle())
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#define LesStabilizationSettingsInstUpdated(instId) UAVObjUpdated(LesStabilizationSettingsHandle(), instId)
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#define LesStabilizationSettingsGetMetadata(dataOut) UAVObjGetMetadata(LesStabilizationSettingsHandle(), dataOut)
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#define LesStabilizationSettingsSetMetadata(dataIn) UAVObjSetMetadata(LesStabilizationSettingsHandle(), dataIn)
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#define LesStabilizationSettingsReadOnly(dataIn) UAVObjReadOnly(LesStabilizationSettingsHandle())
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// Object data
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typedef struct {
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uint8_t UpdatePeriod;
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uint8_t RollMax;
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uint8_t PitchMax;
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uint8_t YawMax;
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uint8_t YawMode;
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float ManualYawRate;
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float MaximumRate[3];
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float RollRateP;
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float PitchRateP;
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float YawRatePI[3];
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float RollPI[3];
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float PitchPI[3];
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float YawPI[3];
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} __attribute__((packed)) LesStabilizationSettingsData;
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// Field information
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// Field UpdatePeriod information
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// Field RollMax information
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// Field PitchMax information
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// Field YawMax information
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// Field YawMode information
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/* Enumeration options for field YawMode */
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typedef enum { LESSTABILIZATIONSETTINGS_YAWMODE_RATE=0, LESSTABILIZATIONSETTINGS_YAWMODE_HEADING=1 } LesStabilizationSettingsYawModeOptions;
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// Field ManualYawRate information
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// Field MaximumRate information
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/* Array element names for field MaximumRate */
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typedef enum { LESSTABILIZATIONSETTINGS_MAXIMUMRATE_ROLL=0, LESSTABILIZATIONSETTINGS_MAXIMUMRATE_PITCH=1, LESSTABILIZATIONSETTINGS_MAXIMUMRATE_YAW=2 } LesStabilizationSettingsMaximumRateElem;
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/* Number of elements for field MaximumRate */
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#define LESSTABILIZATIONSETTINGS_MAXIMUMRATE_NUMELEM 3
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// Field RollRateP information
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// Field PitchRateP information
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// Field YawRatePI information
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/* Array element names for field YawRatePI */
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typedef enum { LESSTABILIZATIONSETTINGS_YAWRATEPI_KP=0, LESSTABILIZATIONSETTINGS_YAWRATEPI_KI=1, LESSTABILIZATIONSETTINGS_YAWRATEPI_ILIMIT=2 } LesStabilizationSettingsYawRatePIElem;
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/* Number of elements for field YawRatePI */
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#define LESSTABILIZATIONSETTINGS_YAWRATEPI_NUMELEM 3
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// Field RollPI information
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/* Array element names for field RollPI */
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typedef enum { LESSTABILIZATIONSETTINGS_ROLLPI_KP=0, LESSTABILIZATIONSETTINGS_ROLLPI_KI=1, LESSTABILIZATIONSETTINGS_ROLLPI_ILIMIT=2 } LesStabilizationSettingsRollPIElem;
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/* Number of elements for field RollPI */
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#define LESSTABILIZATIONSETTINGS_ROLLPI_NUMELEM 3
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// Field PitchPI information
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/* Array element names for field PitchPI */
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typedef enum { LESSTABILIZATIONSETTINGS_PITCHPI_KP=0, LESSTABILIZATIONSETTINGS_PITCHPI_KI=1, LESSTABILIZATIONSETTINGS_PITCHPI_ILIMIT=2 } LesStabilizationSettingsPitchPIElem;
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/* Number of elements for field PitchPI */
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#define LESSTABILIZATIONSETTINGS_PITCHPI_NUMELEM 3
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// Field YawPI information
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/* Array element names for field YawPI */
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typedef enum { LESSTABILIZATIONSETTINGS_YAWPI_KP=0, LESSTABILIZATIONSETTINGS_YAWPI_KI=1, LESSTABILIZATIONSETTINGS_YAWPI_ILIMIT=2 } LesStabilizationSettingsYawPIElem;
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/* Number of elements for field YawPI */
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#define LESSTABILIZATIONSETTINGS_YAWPI_NUMELEM 3
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// Generic interface functions
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int32_t LesStabilizationSettingsInitialize();
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UAVObjHandle LesStabilizationSettingsHandle();
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#endif // LESSTABILIZATIONSETTINGS_H
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/**
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* @}
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* @}
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*/
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134
flight/OpenPilot/UAVObjects/lesstabilizationsettings.c
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134
flight/OpenPilot/UAVObjects/lesstabilizationsettings.c
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@ -0,0 +1,134 @@
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/**
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******************************************************************************
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* @addtogroup UAVObjects OpenPilot UAVObjects
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* @{
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* @addtogroup LesStabilizationSettings LesStabilizationSettings
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* @brief PID settings used by the Stabilization module to combine the @ref AttitudeActual and @ref AttitudeDesired to compute @ref ActuatorDesired
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*
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* Autogenerated files and functions for LesStabilizationSettings Object
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* @{
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*
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* @file lesstabilizationsettings.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Implementation of the LesStabilizationSettings object. This file has been
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* automatically generated by the UAVObjectGenerator.
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*
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* @note Object definition file: lesstabilizationsettings.xml.
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* This is an automatically generated file.
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* DO NOT modify manually.
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*
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include "openpilot.h"
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#include "lesstabilizationsettings.h"
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// Private variables
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static UAVObjHandle handle;
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// Private functions
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static void setDefaults(UAVObjHandle obj, uint16_t instId);
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/**
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* Initialize object.
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* \return 0 Success
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* \return -1 Failure
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*/
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int32_t LesStabilizationSettingsInitialize()
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{
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// Register object with the object manager
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handle = UAVObjRegister(LESSTABILIZATIONSETTINGS_OBJID, LESSTABILIZATIONSETTINGS_NAME, LESSTABILIZATIONSETTINGS_METANAME, 0,
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LESSTABILIZATIONSETTINGS_ISSINGLEINST, LESSTABILIZATIONSETTINGS_ISSETTINGS, LESSTABILIZATIONSETTINGS_NUMBYTES, &setDefaults);
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// Done
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if (handle != 0)
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{
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return 0;
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}
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else
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{
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return -1;
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}
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}
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/**
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* Initialize object fields and metadata with the default values.
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* If a default value is not specified the object fields
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* will be initialized to zero.
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*/
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static void setDefaults(UAVObjHandle obj, uint16_t instId)
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{
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LesStabilizationSettingsData data;
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UAVObjMetadata metadata;
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// Initialize object fields to their default values
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UAVObjGetInstanceData(obj, instId, &data);
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memset(&data, 0, sizeof(LesStabilizationSettingsData));
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data.UpdatePeriod = 10;
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data.RollMax = 35;
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data.PitchMax = 35;
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data.YawMax = 35;
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data.YawMode = 0;
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data.ManualYawRate = 200;
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data.MaximumRate[0] = 300;
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data.MaximumRate[1] = 300;
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data.MaximumRate[2] = 300;
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data.RollRateP = 0.0015;
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data.PitchRateP = 0.0015;
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data.YawRatePI[0] = 0.003;
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data.YawRatePI[1] = 0.003;
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data.YawRatePI[2] = 0.003;
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data.RollPI[0] = 0;
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data.RollPI[1] = 0;
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data.RollPI[2] = 0;
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data.PitchPI[0] = 0;
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data.PitchPI[1] = 0;
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data.PitchPI[2] = 0;
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data.YawPI[0] = 0;
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data.YawPI[1] = 0;
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data.YawPI[2] = 0;
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UAVObjSetInstanceData(obj, instId, &data);
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// Initialize object metadata to their default values
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metadata.access = ACCESS_READWRITE;
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metadata.gcsAccess = ACCESS_READWRITE;
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metadata.telemetryAcked = 1;
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metadata.telemetryUpdateMode = UPDATEMODE_ONCHANGE;
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metadata.telemetryUpdatePeriod = 0;
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metadata.gcsTelemetryAcked = 1;
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metadata.gcsTelemetryUpdateMode = UPDATEMODE_ONCHANGE;
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metadata.gcsTelemetryUpdatePeriod = 0;
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metadata.loggingUpdateMode = UPDATEMODE_NEVER;
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metadata.loggingUpdatePeriod = 0;
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UAVObjSetMetadata(obj, &metadata);
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}
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/**
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* Get object handle
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*/
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UAVObjHandle LesStabilizationSettingsHandle()
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{
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return handle;
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}
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/**
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* @}
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*/
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